Multiple Unmanned Underwater Vehicles Consensus Control with Unmeasurable Velocity Information and Environmental Disturb
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manned Underwater Vehicles Consensus Control with Unmeasurable Velocity Information and Environmental Disturbances Under Switching Directed Topologies YAN Zhe-pinga, WU Yia, b, *, LIU Yi-boc, *, REN Hong-liangb, DU Xuea a College of Automation, Harbin Engineering University, Harbin 150000, China b Department of Biomedical Engineering, National University of Singapore, 119007, Singapore c Systems Engineering Research Institute, Beijing 100094, China
Received December 15, 2019; revised May 29, 2020; accepted June 30, 2020 ©2020 Chinese Ocean Engineering Society and Springer-Verlag GmbH Germany, part of Springer Nature Abstract A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities, the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles (multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle (UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a secondorder integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer (DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally, we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example. Key words: multiple unmanned underwater vehicles, feedback linearization, distributed extended state observe, switching directed topologies Citation: Yan, Z. P., Wu, Y., Liu, Y. B., Ren, H. L., Du, X., 2020. Multiple unmanned underwater vehicles consensus control with unmeasurable velocity information and environmental disturbances under switching directed topologies. China Ocean Eng., 34(5): 631–640, doi: https://doi.org/10.1007/s13344-020-0063-z
1 Introduction An unmanned underwater vehicle (UUV) is capable of control itself automatically beneath the water as well as on the water surface, whose capability is different from marine crafts, such as ships, high-speed crafts and floating rigs (Fossen, 2011). The UUV is also called an autonomous underwater vehicle (AUV). They are both autonomous, which means that they perform the assigned mission without any human intercession. The cooperative control of the multiUUVs has attracted more interests of researchers because multi-UUVs as a whole have been becoming an alternative to single UUV in a variety of complex missions. Compared with the individual UUV (Zhang et al., 2009) which has the limited processing power and operational capability, the multi-UUVs can perform comple
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